KR20140118344A - Device for actuating underwater wearable robots and method for controlling the same - Google Patents

Abstract

Disclosed is a driving device of a wearable robot for underwater work, capable of making a wearer easily overcome the resistance of water, and quickly and omnidirectionally driving an end part. The driving device of a wearable robot for underwater work comprises a driving body that a worker can wear and nozzle parts installed in the driving body to generate thrust by spraying supplied fluid. The driving body is worn in the end part of one among the wrists and ankles of the worker. The nozzle parts generate the linear moving force of three-axis directions, such as X, Y, and Z axis, and one axial rotation force. Thus, the present invention assists the worker to quickly move the end part while overcoming the resistance of the water by directly driving the end part of the wearable robot to be freely moved on the coordinate of a work place, and can precisely control minute movement and high speed movement in all the directions using the nozzles of the end part in underwater movement.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving apparatus for an underwater work wear robot,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a driving apparatus for an underwater work wear robot and a control method thereof, and more particularly to a drive apparatus for an underwater work wear robot and a control method thereof for efficiently assisting a worker in motion during underwater work .

2. Description of the Related Art In general, a wearable robot is a means for supporting or assisting a muscular strength of a human body to be worn by a person, and is driven by a hydraulic device or the like in order to provide a large force.

A wearable robot having improved weight, volume, noise, vibration and energy efficiency has been disclosed in Korean Published Patent Application No. 10-2012-0105194 (2012.09.25). 1 is a block diagram showing a hydraulic apparatus of a conventional wearing robot.

1, a conventional worn robot 100 is connected to an upper leg part 101 and a lower leg part 103 so that a hydraulic pressure is applied to a hydraulic actuator 10 such as a hydraulic cylinder assisting a leg motion . The wearing robot 100 includes a hydraulic device, and the hydraulic device includes a hydraulic pump 40 and a flow control valve 70.

The hydraulic pump 40 is installed in the supply passage 1 for connecting the oil tank 41 in which the hydraulic oil is stored and the hydraulic actuator 10. The hydraulic pump 40 is connected to an oil tank 41 in which hydraulic fluid is stored and is configured to pressurize the hydraulic fluid stored in the oil tank 41 and is driven by the electric motor 30. [ That is, the electric motor 30 and the hydraulic pump 40 function to pressurize the hydraulic fluid and supply the hydraulic fluid to the hydraulic actuator 10. The hydraulic pump 40 may be a hydraulic pump connected to the electric motor 30 and operating in a single direction. The electric motor 30 is controlled to operate by the control signal of the motor controller 31. The motor controller 31 receives the control signal of the main controller 200 and outputs a control signal corresponding thereto to the motor 30 do.

The flow control valve 70 is installed in the discharge passage 3 which is a passage for discharging the hydraulic pressure by branching from the supply passage 1 connecting the hydraulic actuator 10 and the hydraulic pump 40. The flow control valve 70 is controlled by a control signal from the valve controller 71 and the valve controller 71 controls the operation of the flow control valve 70 in accordance with the control signal output from the main controller 200. [ And outputs the generated signal. In this case, the pressure sensor 60 is installed in the supply passage 1 for supplying the hydraulic fluid to the hydraulic actuator 10, and the signal processor 61 processes the output signal of the pressure sensor 60, Lt; / RTI > In addition, a check valve 50 is provided on the supply passage 1 between the hydraulic actuator 10 and the hydraulic pump 40. The reference numeral 52 is an accumulator.

Conventional worn robots configured in this manner are being developed for the purpose of working on land in an atmospheric environment. The wearer robot always moves on the ground and drives the joint using a pneumatic cylinder or a motor to support the weight of the weight and the weight and control the distal end.

However, since a wearer wearing a wearing robot almost floats on the water in the water, the influence of the reaction in the movement of the specific link is very large. In addition, when moving the link, the resistance of the water is greater than that of the air, and it is affected by the currents. Therefore, when the conventional worn robot is used, there is a problem that it is difficult to control the distal end to a desired position based on the coordinate of the working area if each joint is directly driven. In addition, if each joint is directly driven when moving in water, there is a problem that the use of energy is ineffective in swimming and the like, the reactivity is lowered, and the method of forcing the movement of the wearer is difficult to avoid.

Patent Document: Korean Patent Publication No. 10-2012-0105194 (September 25, 2012)

In order to solve such a conventional problem, the present invention aims to provide a driving apparatus for a wearable robot for underwater work which enables a wearer to easily win the resistance of the water and quickly drive the distal end portion, and to drive in all directions, and a control method thereof have.

The apparatus for driving an underwater work wear robot according to the present invention includes a drive body to be worn by an operator and a nozzle unit to generate a propulsive force by jetting a fluid supplied to the drive body, The nozzle unit generates a linear movement force in the three axial directions of the X axis, the Y axis, and the Z axis and a rotational force in the uniaxial direction.

A control method of a driving apparatus for an underwater work wear robot according to the present invention comprises a driving body which is worn on the distal end of a body, which is at least one of a wrist or an ankle of a worker, Wherein the controller is configured to measure force vector information in a direction in which the worker is to be moved through the force sensor and to calculate the force vector information based on the measured force vector information, A linear movement force in the three-axis directions of the Y-axis and the Z-axis and a rotational force in the one-axis direction are generated.

The driving device and the control method for the underwater work wear robot according to the present invention directly operate the end portion of the wear robot so as to freely move relative to the coordinates of the work space, thereby assisting the worker to overcome the resistance of water and move the end portion quickly, It is a very useful invention that can precisely control the fine movement and the high-speed movement with respect to all directions by using the nozzle at the distal end of the movement.

FIG. 1 is a view showing a hydraulic device of a conventional wearing robot,
FIG. 2 illustrates a state in which the driving device of the underwater work robot is worn according to an embodiment of the present invention,
FIG. 3 illustrates a schematic configuration of a driving apparatus for an underwater work robot according to an embodiment of the present invention in a global coordinate system,
FIG. 4 is a diagram showing a schematic configuration of a driving apparatus for an underwater work wear robot according to an embodiment of the present invention in a local coordinate system,
FIG. 5 is a graph showing a magnitude of a force and a propulsive force measured in a driving device of an underwater work wear robot according to an embodiment of the present invention,
FIG. 6 is an enlarged perspective view of a part of a driving apparatus for an underwater work robot according to an embodiment of the present invention.

Hereinafter, a description will be made in detail of a technical arrangement of a driving apparatus and a control method thereof for an underwater work wear robot according to the accompanying drawings.

FIG. 2 is a view showing a state in which a driving apparatus for an underwater work wear robot according to an embodiment of the present invention is worn, FIG. 3 is a schematic view showing a schematic configuration of a drive apparatus for an underwater work wear robot according to an embodiment of the present invention, FIG. 4 is a diagram showing a schematic configuration of a driving apparatus for a water-wearing robot according to an embodiment of the present invention in a local coordinate system, and FIG. FIG. 6 is a perspective view illustrating an enlarged view of a part of a driving apparatus for an underwater work wear robot according to an embodiment of the present invention .

2 to 6, a driving apparatus for an underwater work wear robot according to an embodiment of the present invention includes a driving body 931, a driving body 932, a propeller 95, a hose 97, (94), a nozzle unit (91), and a force sensor.

The driving bodies 931 and 932 are worn by the worker 99 and are worn on the distal end of the body, which is at least one of the wrists or ankles of the worker 99. In the present embodiment, an example in which the driving bodies 931 and 932 are worn on both the wrist and ankle of the worker 99 will be described. The detailed structure and operation description will be described with reference to a driving body 931 worn on the wrist I will explain. In addition, for convenience of explanation, the coordinate system shown in FIG. 3 is a global coordinate system, and the coordinate system shown in FIG. 4 is defined as a local coordinate system.

The driving body 931 includes an inner link 982 and a wire 981. The inner link 982 is tightly fitted on the wrist of the worker 99 and is disposed on the inner side of the driving body 931. In this case, the driving link 932 to be worn on the ankle is equally equipped with an inner link which is worn tightly on the ankle. A space portion 983 is formed between the inner link 982 and the driving body 931. The inner link 982 is preferably made of a band of elastic material.

The wire 981 is made of a material having elasticity, and connects the inner link 982 and the driving body 931. The wires 981 are arranged in four radial directions around the inner link 982, and the lengths of the respective wires 981 are formed to be equal to each other. As a result, the wire 981 connects the end of the worker 99 with the force sensor to be described later, i.e., the wrist.

As described above, when the force sensor is connected to the wrist using a flexible wire 981 without using a rigid body, the feeling of wearing of the worker 99 can be improved and the unexpected sudden nozzle portion 91 It is possible to prevent the worker 99 from being directly subjected to a physical impact.

The propeller 95 is attached to the back of the operator 99 and generates a power source in the form of a water jet propeller, which can be implemented in the structure of an internal combustion engine. In this case, the propeller 95 may drive the pump to generate propulsive force. The hose 97 serves to connect the drive body and the propeller 95 to transfer the fluid of the propeller 95 to the nozzle portion 91 of the drive body. In this case, the fluid may consist of water. The valve 94 functions to control the amount of fluid flowing inside the hose 97. The valve 94 may be implemented in the form of a solenoid valve.

The propulsive force generated in the propeller 95 is transferred to the link of the wearing robot through the fixed hose 97 along the link of the wearing robot and is controlled independently of the speed and amount of the water sprayed through the nozzle 91 The thrust can be controlled. That is, the propulsive force injected from the nozzle unit 91 can be controlled independently for each nozzle.

The nozzle unit 91 is installed in the driving body 931, and generates a driving force by jetting the supplied fluid. The nozzle unit 91 generates a linear movement force in the three axial directions of the X axis, the Y axis, and the Z axis and a rotational force in the uniaxial direction.

The nozzle unit 91 includes a first nozzle 911 and a second nozzle 912 for jetting fluid in different directions with respect to the Z axis direction, A nozzle 913 and a fourth nozzle 914 and a fifth nozzle 915 and a sixth nozzle 916 for jetting fluid in different directions with respect to the X axis direction. Also, when the first nozzle 911 and the second nozzle 912 are simultaneously driven, an offset is formed with respect to the central axis, so that a one-way torque is generated with respect to the X axis. In addition, when the third nozzle 913 and the fourth nozzle 914 are simultaneously driven, an offset with respect to the central axis is formed, thereby generating a torque in the other direction about the X axis.

That is, six independent nozzles are provided at the extremities of the worn robot, i.e., the wrist and the ankle, to generate a three-axis force and a one-axis rotation torque to cause the distal end to instantly move. In addition, the two nozzles form a group and are attached in opposite directions to each other, generating forward and reverse thrust for one axis.

More specifically, the first nozzle 911 and the second nozzle 912 generate propulsive force with respect to the Z axis, and the third nozzle 913 and the fourth nozzle 914 generate a propulsive force with respect to the Y axis The fifth nozzle 915, and the sixth nozzle 916 generate the thrust for the X axis. In addition, two nozzles forming a pair are installed with an offset relative to the central axis. That is, the first nozzle 911 and the second nozzle 912 are finely staggered with respect to each other on the Z-axis line, and the third nozzle 913 and the fourth nozzle 914 are arranged so as to be finely staggered on the Y- .

With this arrangement, rotational motion occurs about the axis when two nozzles located on the same axis are simultaneously driven. That is, when the first nozzle 911 and the second nozzle 912 are simultaneously driven, a reverse torque about the X axis is generated. When the third nozzle 913 and the fourth nozzle 914 are simultaneously driven, X A positive torque is generated with respect to the shaft.

The wearable robot has a structure in which links made of a rigid body from the body to the extremities of the limbs are jointed to each other, so that the rotational torque about the Y axis and the Z axis can be generated by pushing the vertical direction nozzle of the joint axis. That is, the forward rotational force with respect to the Z-axis can be generated by driving the third nozzle 913. In order to alleviate the torque generated in the opposite direction to each joint due to the rotation about the Y axis and the Z axis, a spring-damper is provided in each joint within a range that does not burden the motion of the worker 99, .

The strong work is disposed at a connection portion between the driving body 931 and the wire 981 and performs a function of measuring a force in a direction in which the worker 99 moves in order to control the driving of the nozzle unit 91. The forceps are provided at the distal end of the worker 99, that is, at the wrist and ankle, respectively, and are implemented in the form of a three-axis force sensor.

That is, the forceps is composed of a first force sensor 961, a second force sensor 962, a third force sensor 983, and a fourth force sensor 964. As described above, Shaped inner link 982 which is worn on the wrist and ankle of the worker 99 via a link 981. [ The space 983 is secured between the inner link 982 and the driving body 931 so that the wrist and ankle of the worker 99 can move freely. The forearm and the thigh of the worker 99 are firmly fastened to the driving body 931 by binding or the like. In this case, it is preferable that a cushioning material 939 of a stretched material is attached to the inside of the driving body 931.

Meanwhile, a method of controlling a driving apparatus for an underwater work wear robot according to an embodiment of the present invention includes a driving body that is worn on a distal end portion of at least one of wrists or ankles of a worker 99, And a nozzle unit (91) for generating a propulsive force by ejecting a fluid to be applied to the workpiece (99), the method comprising the steps of: measuring force vector information in a direction in which the worker (99) Based on the measured force vector information, the nozzle unit 91 generates a linear movement force in three axial directions of the X axis, Y axis, and Z axis and a rotational force in the uniaxial direction.

That is, the direction of the force measured from the four three-axis force sensors determines the nozzle unit 91 to be driven, and generates the thrust force of the nozzle unit 91 in proportion to the magnitude of the force to be measured . In this case, in Fig. 5, K is a proportional constant. For example, when the force is measured only in the X-axis direction on the first force sensor 961 with respect to the local coordinate system in FIG. 4, the worker 99 calculates the force on the global coordinate system shown in FIG. 3 Since it is desired to move in the -Z-axis direction, the second nozzle unit 912 is driven to generate a propulsive force proportional to the measured force value.

In this way, it is possible to determine the thrust force with the nozzle unit 91 to be driven based on the force vector information measured by four of the three-axis force sensors, and to control the thrust force with an appropriate amount of force. In this case, since the six nozzle units fixed to the distal end of the operator can be finely controlled in real time through the valve, the intention of the operator is sensitively reflected, and smooth control can be performed without sudden pushing.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention. It is understandable. Accordingly, the scope of the true technical protection should be determined by the technical idea of the appended claims.

91: nozzle part 95: propeller
961: first force sensor 962: second force sensor
963: Third force sensor 964: Fourth force sensor
97: Hose 99: Operator
94: Valve

Claims (8)

And a nozzle unit 91 for generating a driving force by jetting a fluid supplied to the driving body and being supplied to the driving body;
The driving body is worn on the distal end of the body, which is at least one of the wrist or ankle of the worker 99,
Wherein the nozzle unit (91) generates a linear movement force in three axial directions of an X axis, a Y axis and a Z axis and a rotational force in a uniaxial direction. The method according to claim 1,
The nozzle unit 91 includes:
A first nozzle 911 and a second nozzle 912 for jetting fluid in different directions with respect to the Z-axis direction;
A third nozzle 913 and a fourth nozzle 914 for jetting fluid in different directions with respect to the Y-axis direction;
And a fifth nozzle (915) and a sixth nozzle (916) for jetting the fluid in different directions with respect to the X-axis direction. 3. The method of claim 2,
An offset is generated with respect to the central axis when the first nozzle 911 and the second nozzle 912 are simultaneously driven so that a one-way torque is generated with respect to the X axis, and the third nozzle 913 and the fourth nozzle 912 Wherein an offset relative to the central axis is formed when the nozzle (914) is simultaneously driven to generate a torque in the other direction with respect to the X axis. The method according to claim 1,
A hose 95 for transferring the fluid of the propeller 95 to the nozzle unit 91 of the driving body by connecting the driving body and the propeller 95 to the hinge 95, And a valve (94) for controlling the flow amount of the fluid flowing in the hose (97). And a nozzle unit 91 for generating a driving force by jetting a fluid supplied to the driving body and being supplied to the driving body;
The driving body is worn on the distal end of the body, which is at least one of the wrist or ankle of the worker 99,
And a force sensor for measuring a force in a direction in which the worker (99) moves in order to control the driving of the nozzle unit (91). 6. The method of claim 5,
The driving body includes:
An inner link spaced from the inside of the driving body to form a space portion 983 between the driving body and the wrist or ankle of the worker;
A wire connected between the inner link and the drive main body and having elasticity and radially arranged around the inner link,
Wherein the forceps is disposed at a connection portion between the driving body and the wire. The method according to claim 6,
Wherein the inner link is made of a band of elastic material. And a nozzle unit 91 for generating a driving force by jetting a fluid supplied to the driving body and worn on the distal end of the body, which is at least one of the wrist or ankle of the worker 99, The control method comprising:
The force vector information of the direction in which the worker 99 is about to be moved is measured through the force sensor, and based on the measured force vector information, the nozzle unit 91 is moved along the three axes of the X axis, Y axis and Z axis Wherein the control unit generates the force and the rotational force in the uniaxial direction.

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